#include "math.h"


struct PI
{
	float kp,ki,integralx,integraly,integralz;
	//float gz_integral;
};



float inv_sqrt(float x);
void Quaternion_caculate(struct IMU_data *imu_data,struct PI *pi,float q[],float dt);
void PI_and_q_init(struct PI *pi,float p[],struct IMU_data *imu_data);
void Quaternion_AHRS_InitIMU(float q[],struct IMU_data *imu_data);
